RS485 Raspberry Pi Motor Control

I’m developing an ultrasonic plastic-tube sealing system for our R&D line and need a working control package for the two Panasonic servo motors that rotate the sealing jaws. Each motor must run independently with adjustable speed, direction, and torque.

Project environment
• Controller: Raspberry Pi (preferred)
• Communication: RS485 to both the ultrasonic generator and the motor drives
• Language: Python

What I need from you
1. Clean, well-commented Python code that
– establishes and maintains reliable RS485 links
– sends real-time commands to each motor for speed, direction, and torque set-points
– reads back status, alarms, and position data
2. A simple text-based or lightweight GUI on the Pi to tweak parameters and start/stop the sequence.
3. Integration hooks so the Pi can also pass run/stop commands to the ultrasonic sealing unit over the same RS485 bus.
4. Wiring diagram and short setup guide so my in-house team can reproduce the build.

Nice to have (but not mandatory at this stage)
• Option to port the interface to a Delta HMI later
• Suggestions on suitable Python libraries (pySerial, MinimalModbus, etc.) and why you chose them

Deliverables are considered complete when the motors can be jogged, run to target RPM, reversed, and torque-limited from the Pi, and the ultrasonic unit responds to start/stop commands during the cycle.

This is an R&D project; if your solution is robust and well-documented, a longer-term role upgrading the full production line here in Australia is very likely. Looking forward to your expertise.